Difference between revisions of "MC-Basic:COMMON SHARED or DIM SHARED or DIM ... AS LOCATION OF .../zh-hans"
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− | {{Languages}} | + | {{Languages|MC-Basic:COMMON_SHARED_or_DIM_SHARED_or_DIM_..._AS_LOCATION_OF_...}} |
== 缩写 == | == 缩写 == | ||
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<variable_name> : Location | <variable_name> : Location | ||
− | <robot_type>: XYZR, - | + | <robot_type>: XYZR, - 三个笛卡尔轴 + 旋转轴 |
− | XY – | + | XY – 两轴XY平面 |
− | XYZ – | + | XYZ – 三轴XYZ系统 |
XYZYPR - X-Y-Z-Yaw-Pitch-Roll | XYZYPR - X-Y-Z-Yaw-Pitch-Roll | ||
Line 34: | Line 34: | ||
== 使用范围 == | == 使用范围 == | ||
− | + | 根据机器人类型 | |
== 单位 == | == 单位 == | ||
− | + | 用户定义位置单位 | |
== 默认 == | == 默认 == | ||
Line 45: | Line 45: | ||
Configuration ,Task or Terminal | Configuration ,Task or Terminal | ||
− | + | ||
+ | 从4.5.17版起,全局(common shared)声明也可以从库上下文中获得。 | ||
== 限制 == | == 限制 == | ||
− | + | 只写,必须使用有效的机器人类型。 | |
== 例子 == | == 例子 == | ||
− | common shared scara as group axnm = a1 axnm = a2 axnm = a3 axnm = a4 model = 4 | + | common shared scara as group axnm = a1 axnm = a2 axnm = a3 axnm = a4 model = 4 ‘SCARA机器人声明<br> |
− | Common Shared Loc1 as location of XYZR | + | Common Shared Loc1 as location of XYZR ‘SCARA机器人笛卡尔位置 |
Loc1 = #{90, 180, 0, 0, 0, 0}<br> | Loc1 = #{90, 180, 0, 0, 0, 0}<br> |
Latest revision as of 05:46, 3 May 2017
语言: | English • 中文(简体) |
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缩写
格式
COMMON SHARED|DIM SHARED|DIM <variable_name>{[ ]#} AS LOCATION OF <robot_type>
适用版本
All versions
描述
位置是一种机器人点变量。对于笛卡尔坐标,位置变量由6个组件定义,分别表示“X,Y,Z,Yaw,Pitch,Roll”。有关支持的点类型的完整列表,请参见: Point_Type_List
位置变量可以在所有范围内定义,即在配置文件中,从终端(全局变量),或在任务之前(静态变量)和程序块(局部变量)内定义。 位置点也可以定义为子程序和函数的参数,以及函数的返回值。 位置变量可以是标量或数组。 数组最多可以有10个维度。
笛卡尔系统变量:这里,设定点。 loc= <ROBOT> .here系统维护变量返回参考机器人WORLD参考系下工具点的当前位置变换。
笛卡尔位置定义:系统使用前面加上“#”符号的大括号用于区分关节位置和笛卡尔位置。
#{x_value, y_value, z_value, yaw_value, pitch_value, roll_value}
类型
<variable_name> : Location
<robot_type>: XYZR, - 三个笛卡尔轴 + 旋转轴
XY – 两轴XY平面
XYZ – 三轴XYZ系统
XYZYPR - X-Y-Z-Yaw-Pitch-Roll
使用范围
根据机器人类型
单位
用户定义位置单位
默认
使用范围
Configuration ,Task or Terminal
从4.5.17版起,全局(common shared)声明也可以从库上下文中获得。
限制
只写,必须使用有效的机器人类型。
例子
common shared scara as group axnm = a1 axnm = a2 axnm = a3 axnm = a4 model = 4 ‘SCARA机器人声明
Common Shared Loc1 as location of XYZR ‘SCARA机器人笛卡尔位置
Loc1 = #{90, 180, 0, 0, 0, 0}
Move SCARA Loc1
参见
- COMMON SHARED ... AS LONG or DOUBLE or STRING or STRING OF UTF8
- DIM SHARED ... AS LONG or DOUBLE or STRING or STRING OF UTF8
- DIM ... AS LONG or DOUBLE or STRING or STRING OF UTF8
- COMMON SHARED or DIM SHARED or DIM ... AS JOINT OF ...
- COMMON SHARED or DIM SHARED or DIM ... AS GENERIC LOCATION
- VARLIST